version: 66.06
glider: 5
mission: 8
dive: 6
start: 3 3 110 1 11 30
data:
$ID,5
$MISSION,8
$DIVE,6
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110385.56
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2794
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2051
$C_ROLL_CLIMB,2051
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.24641
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,010636,4807.208,-12223.361,15,1.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-72.7
$GPS2,011038,4807.250,-12223.366,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.091,-0.247
$KALMAN_X,-96.2,177.5,85.5,-368.2,-269.9
$KALMAN_Y,1096.5,105.4,-2.8,-2175.1,740.0
$MHEAD_RNG_PITCHd_Wd,141.6,647,-18.1,-10.000
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,116,0.00,0.00,-98.30,0.000,2,0.000,0.000,426,2066,2880,0,0,0,0,0,0
$GC,119,-1.44,-146.6,2.2,-4.4,18,175,11.27,0.00,-37.53,0.000,6,0.166,0.000,2473,2057,3838,0,0,0,0,0,0
$GC,241,-1.44,-146.6,13.9,-13.6,40,248,0.00,2.67,0.00,0.000,4,0.000,0.075,2473,643,3838,0,0,0,0,0,0
$GC,287,-1.44,-146.6,20.3,-13.8,48,291,0.00,2.60,0.00,0.000,6,0.000,0.066,2473,2054,3838,0,0,1,0,0,0
$GC,485,-1.44,-146.6,47.8,-14.1,66,489,0.00,2.60,0.00,0.000,4,0.000,0.077,2473,3468,3838,0,0,0,0,0,0
$GC,688,-1.44,-146.6,77.4,-14.8,75,692,0.00,2.62,0.00,0.000,6,0.000,0.065,2473,2041,3839,0,0,1,0,0,0
$STATE,939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,939,begin apogee
$GC,944,-0.33,0.0,111.1,12.9,91,1071,1.15,0.00,120.00,0.841,6,0.097,0.000,2716,2026,3238,0,0,0,0,0,0
$STATE,1072,end apogee,CONTROL_FINISHED_OK
$STATE,1072,begin climb
$GC,1074,1.44,146.6,113.8,0.0,104,1206,1.77,2.60,117.70,0.811,4,0.062,0.062,3109,638,2641,0,0,0,0,0,0
$GC,1319,1.44,146.6,80.7,16.3,121,1323,0.00,2.58,0.00,0.000,6,0.000,0.054,3109,2057,2641,0,0,0,0,0,0
$GC,1639,1.44,146.6,31.3,14.3,142,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2057,2641,0,0,0,0,0,0
$GC,1831,1.44,146.6,5.1,11.9,170,1838,0.00,2.62,0.00,0.000,4,0.000,0.067,3109,637,2641,0,0,1,0,0,0
$STATE,1843,end climb,SURFACE_DEPTH_REACHED
$STATE,1843,begin surface coast
$FINISH,2.8,1.020041
$STATE,1891,end surface coast,CONTROL_FINISHED_OK
$STATE,1891,begin surface
$SM_CCo,1914,241.93,0.734,0,0,792,600.00
$SM_GC,0.52,0.00,0.00,241.93,0.000,0.000,0.734,426,2067,792,-10.89,0.45,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,48.50
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,81.6,39.2
$24V_AH,24.0,75.011
$10V_AH,9.9,33.520
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.175,20.925,237.700,241.925,0.000,38.808,35.251,86.235,1.250,0.000,13.549,303.550,772.121,511.307,598.867,229.437,33.332,828.935,0.000,596.113,0.000,10.183,0.000
$DEVICE_MAMPS,165.672,76.700,841.399,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,119.290,134.390,461.955,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324204
$DATA_FILE_SIZE,9689,181
$CAP_FILE_SIZE,32254,0
$CFSIZE,254472192,252448768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,030310,014836,4807.117,-12223.480,33,1.4,33,18.3